Printed arm, stand test

faultsim

Serial: U0
Design: robot-arm
Generator: virtual-robot-plant twin_report 0.1.0
Run scenario: min-jerk reach and hold, payload past the shoulder's peak torque
Solver: plant
Duration (s): 20
Physics dt (s): 0.001
Control rate (Hz): 1000
Electrical substeps: 10
Ambient (°C): 25
Payload: 3 kg on tool at (0.08, 0, 0) m; the controller was not told

Not modelled: backlash, pwm_ripple, cogging, sensor_noise, iron_loss, gear_loss_heat

Manufacturing graph: make:robot-arm. Robotics.Make (POST /robotics/make) renders it.

Limits: thermal watch margin 15 °C, tracking watch 0.02 rad (rms), tracking fault 0.1 rad (max), saturation watch 0.05.

Joints

Joint	Source	Actuator	Make ref	Peak current	Peak torque	Thermal margin	RMS error	Flags	Health
base	sim	servo-2nm	`make:robot-arm/servo-base`	1.740 / 1.72 A	1.92 / 1.9 N·m	35.2 °C	0.0406 rad	tracking saturation	watch
shoulder	sim	servo-10nm	`make:robot-arm/servo-shoulder`	6.113 / 6.06 A	10.70 / 10.6 N·m	9.4 °C	0.7029 rad	thermal tracking saturation	fault
elbow	sim	servo-4nm	`make:robot-arm/servo-elbow`	2.362 / 2.34 A	4.13 / 4.1 N·m	15.1 °C	0.4285 rad	tracking saturation	fault
wrist	sim	servo-2nm	`make:robot-arm/servo-wrist`	1.743 / 1.72 A	1.92 / 1.9 N·m	42.4 °C	0.0697 rad	tracking	fault

Parity: 4 of 4 joints carry a stated summary and health; each agrees with the health recomputed from its trace.

200 samples over 19.9 s. Summary taken from the document.

Position (rad)

q solid, q_ref dashed. rms error 0.0406 rad, max 0.0852 rad.

Current (A)

peak 1.740 A of a 1.72 A limit (dashed); rms 1.123 A.

Winding (°C)

peak 64.8 °C against a 100 °C limit (dashed); margin 35.2 °C.

200 samples over 19.9 s. Summary taken from the document.

Position (rad)

q solid, q_ref dashed. rms error 0.7029 rad, max 1.3566 rad.

Current (A)

peak 6.113 A of a 6.06 A limit (dashed); rms 5.221 A.

Winding (°C)

peak 90.6 °C against a 100 °C limit (dashed); margin 9.4 °C.

200 samples over 19.9 s. Summary taken from the document.

Position (rad)

q solid, q_ref dashed. rms error 0.4285 rad, max 0.9792 rad.

Current (A)

peak 2.362 A of a 2.34 A limit (dashed); rms 2.005 A.

Winding (°C)

peak 84.9 °C against a 100 °C limit (dashed); margin 15.1 °C.

200 samples over 19.9 s. Summary taken from the document.

Position (rad)

q solid, q_ref dashed. rms error 0.0697 rad, max 0.5906 rad.

Current (A)

peak 1.743 A of a 1.72 A limit (dashed); rms 1.032 A.

Winding (°C)

peak 57.6 °C against a 100 °C limit (dashed); margin 42.4 °C.